Nonlinear predictive control on a heterogeneous computing platform

Nonlinear Predictive Control on a Heterogeneous Computing Platform

We propose an implementation of an interior-point-based nonlinear predictive controller on a heterogeneous processor. The workload can be split between a general-purpose CPU and a fieldprogrammable gate array to trade off the contradicting design objectives of control performance and computational resource usage. A new way of exploiting the structure of the KKT matrix yields significant memory ...

An Integrated Platform for Heterogeneous Reconfigurable Computing

To our knowledge, it is the first time that a project creates a set of high level tools allowing to program different kind of reconfigurable units assembled in a System on Chip. This paper explains the general ideas followed to provide a software centric execution model, and techniques used to build a new framework open to various languages and technologies. Assessment of the framework will be ...

Nonlinear Model Predictive Control

Multirate Nonlinear Predictive Control

This paper introduces a new approach to reduce the computational load of nonlinear model based predictive controllers. The idea is based on dividing a long prediction horizon into only a few equidistant intervals with piecewise constant control signals. After solving a first dynamic optimization problem the prediction horizon is halved, keeping the second half of the solution fixed and doubling...

On optimality of nonlinear model predictive control

In this note the Infinite Horizon (IH) optimality property of Nonlinear Model Predictive Control (MPC) is analysed. In particular it is shown with a contra example that the conjecture that the IH cost of the closedloop system controlled with a stabilizing MPC controller is a monotonic decreasing function of the optimization horizon is fallacius.